CN104720195A - Automatic shoe tree inserting and unloading device for full-automatic shoemaking production line - Google Patents
Automatic shoe tree inserting and unloading device for full-automatic shoemaking production line Download PDFInfo
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- CN104720195A CN104720195A CN201510102093.3A CN201510102093A CN104720195A CN 104720195 A CN104720195 A CN 104720195A CN 201510102093 A CN201510102093 A CN 201510102093A CN 104720195 A CN104720195 A CN 104720195A
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Abstract
The invention discloses an automatic shoe tree inserting and unloading device for a full-automatic shoemaking production line. The device comprises a gantry support which is arranged across a flow production line, a dual-stroke air cylinder is arranged on the upper beam of the gantry support, a transfer bar of the dual-stroke air cylinder is connected with a sliding block arranged on the slide bar, the sliding block is arranged vertically and protrudes out of the edges of the beams, the sliding block is provided with a longitudinal motion air cylinder, and a shoe tree gripping mechanical arm and a shoe tree gripping air cylinder which controls the motions of the mechanical arm are arranged on a motion rod of the longitudinal motion air cylinder. By means of the device, the problem that manual operation labor intensity is large is solved, the speed is high, the structure is simple, the controlling method is simple, and the stability of a system is good.
Description
Technical field
The present invention relates to automatic shoes product line, in particular a kind of automatically inserting shoe last or hat block and unloading shoe last or hat block device for full-automatic shoe production line.
Background technology
A procedure is had to need shoe tree to put in the middle of footwear mould as core in existing shoemaking process.Current this operation of operation be all adopt manually-operated mode carry out, due to shoe tree be generally aluminium make, weight ratio is heavier, artificial long period of operation can cause labour intensity large, and manual operation duration can not catch up with the rhythm of production line, production efficiency step-down can be caused, cause the problems such as cost is higher.
Therefore, but existing existing production line needs to be improved and develops, and realizes the process of automation, also has the equipment of some automations at present all compare to be difficult to realize controlling requirement that is simple and that simplify the structure.
Summary of the invention
The object of the present invention is to provide a kind of automatically inserting shoe last or hat block and unloading shoe last or hat block device for full-automatic shoe production line, be intended to solve existing automation equipment control method and baroque problem.
Technical scheme of the present invention is as follows:
A kind of automatically slotting shoe last or hat block device for full-automatic shoe production line, it comprises the gantry support be crossed on above flow production line, the entablature of described gantry support is provided with double stroke cylinder, and the drive link of described double stroke cylinder connects the slide block be arranged on slide bar; Described slide block is vertically set up, and protrudes from the edge of crossbeam, and described slide block is provided with longitudinal actuating cylinder, and the shoe tree that the actuating strut of described longitudinal actuating cylinder arranges shoe tree catching robot and control manipulator behavior captures cylinder; Its control method of automatically inserting shoe last or hat block is: first double stroke cylinder is placed in original position, and after receiving shoe tree crawl instruction, double stroke cylinder extends to full stroke position; Control longitudinal actuating cylinder again and perform the preparation station of down maneuver to shoe tree; Then shoe tree is firmly grasped by the action of shoe tree crawl cylinder, after catching shoe tree, longitudinal actuating cylinder performs vertical motion, after the action of lifting shoe tree completes, double stroke cylinder performs the first trip segment motion, move to the first travel point place, longitudinal actuating cylinder performs down maneuver, and then performs the second trip segment motion and insert in the shoe tree screens of footwear mould bases by shoe tree, and it is equal that described shoe tree screens height and shoe tree prepare station height.
The described automatically slotting shoe last or hat block device for full-automatic shoe production line, the guide screw movement that double stroke cylinder described in it replaces with Electric Machine Control is secondary, and the leading screw of described Electric Machine Control performs two-pass action.
The described automatically slotting shoe last or hat block device for full-automatic shoe production line, after it completes a slotting shoe last or hat block action in continuous flow procedure, unclamp catching robot, and while the extension action of execution second trip segment, perform the enhancing action of longitudinal actuating cylinder, then continue execution first stroke continuously and extend action, arrival shoe tree preparation station place carries out shoe tree grasping movement next time.
The described automatically slotting shoe last or hat block device for full-automatic shoe production line, it also comprises detecting unit, the probe of described detecting unit is extended on by bracing frame the correspondence position that shoe tree inserts footwear mould bases, described probe is provided with two, comprise the first probe and the second probe, described first probe prepares station side near shoe tree, and the second probe is near footwear mould bases side, if second probe have signal, first probe do not have signal then to represent plug-in mounting completes; If second probe have signal, first probe also have signal then to represent plug-in mounting does not put in place, production line will shut down process; If the first probe and the second probe all do not have signal, device then works on according to setting program.
The described automatically slotting shoe last or hat block device for full-automatic shoe production line, shoe tree catching robot described in it comprises installation base plate and is vertically arranged on the vertical fixed head on installation base plate, described shoe tree captures cylinder and is fixed on vertical fixed head, it is a parallel gripper cylinder that shoe tree captures cylinder, the gripping actuating strut of parallel gripper cylinder is provided with shoe tree and captures plate.
The described automatically slotting shoe last or hat block device for full-automatic shoe production line, it is clip type manipulator that shoe tree described in it captures plate, the shoe tree plate of shoe tree is clamped from both sides, capture on plate at described shoe tree and be provided with multiple tack claw, there is a square groove described installation base plate bottom surface, the shoe tree plate of shoe tree is placed in described square groove when crawled, and described tack claw inwardly clamps and clamped by shoe tree.
The described automatically slotting shoe last or hat block device for full-automatic shoe production line, the first stroke segment length of its special described double stroke cylinder is 400mm, and the second trip segment length is 50mm, and described longitudinal actuating cylinder stroke is 50mm.
A kind ofly automatically unload shoe last or hat block device for full-automatic shoe production line, its apparatus structure is identical with the automatically slotting shoe last or hat block apparatus structure described in above-mentioned any one, motion flow is contrary with slotting shoe last or hat block mode, it unloads shoe last or hat block control method automatically: first perform the second trip segment motion and the shoe tree screens of shoe tree from footwear mould bases is taken out, and then performs the first stroke by with on the shoe tree feeding product shoes process station of product shoes.
Beneficial effect of the present invention: the present invention realizes the crawl of shoe tree, slotting shoe last or hat block by a kind of simple double stroke cylinder structure of design and control method and unloads the object of shoe last or hat block, solves the problem that manual operation labour intensity is large, and fast.Not only structure is simple, control method is also simple, and the stability of a system is good.
Accompanying drawing explanation
Fig. 1 is slotting shoe last or hat block device overall structure schematic diagram automatically provided by the invention.
Fig. 2 is slotting shoe last or hat block apparatus structure schematic diagram automatically provided by the invention.
Fig. 3 is slotting shoe last or hat block apparatus structure schematic diagram automatically provided by the invention.
Fig. 4 is Shoe last structure schematic diagram provided by the invention.
Fig. 5 is footwear die carrier structure schematic diagram provided by the invention.
Fig. 6 is shoe tree catching robot structure schematic side view provided by the invention.
Fig. 7 is shoe tree catching robot structure front elevational schematic provided by the invention.
Detailed description of the invention
For making object of the present invention, technical scheme and advantage clearly, clearly, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment.
First the present invention provides a kind of and automatically inserts shoe last or hat block device, and its objective is and be inserted in the middle of footwear mould by shoe tree, object is the shoe tree plate 21 of shoe tree 2 to be as shown in Figure 4 inserted in the locking device 51 of the footwear mould bases 52 shown in Fig. 5 more specifically for the present invention.Then die closing operation is carried out by footwear mould bases 52, the shoe tree 2 i.e. core of shoe-making die is assemblied in patrix 53 and counterdie (not shown) and forms a mold cavity, polyurethane foam sizing material slaking in described mold cavity of injecting before matched moulds, with the upper of a shoe on shoe tree bond integrated after make complete shoes.
See Fig. 1 and 2, described locking device shoe tree being inserted footwear mould bases, the shoe last or hat block device of automatically inserting more particularly the shoe tree plate 21 of shoe tree 2 being inserted the locking device 51 of footwear mould bases 52 comprises: be crossed on the gantry support 01 above flow production line, the entablature 011 of described gantry support 01 is provided with double stroke cylinder 012, and the drive link 0121 of described double stroke cylinder 012 connects the slide block 013 be arranged on slide bar 0131; Described slide bar 0131 and slide block 013 are vertically set up, and protrude from the edge of crossbeam 011.Its objective is the shoe tree catching robot be conveniently fixed on slide block can rise or under remove crawl shoe tree.Described manipulator captures the shoe tree plate 21 that shoe tree is used for gripping shoe tree.
Described slide block 013 is provided with longitudinal actuating cylinder 014, and the shoe tree that the actuating strut 015 of described longitudinal actuating cylinder 014 arranges shoe tree catching robot 018 and control manipulator behavior captures cylinder 016.
See Fig. 3, device provided by the invention is a device automatically controlled, and also comprises a control system be connected with in device cylinder.The flow process that described device inserts shoe last or hat block under control of the control system is automatically: first double stroke cylinder 012 is placed in original position, described initial state position and cylinder dead-center position; Receive after shoe tree that control system sends captures instruction, double stroke cylinder 012 starts action, and drive link 0121 is pushed into full stroke position; Control longitudinal actuating cylinder 014 again and perform down maneuver, shoe tree catching robot 018 is delivered to the preparation station 00 of shoe tree; Then shoe tree captures cylinder 016 action by shoe tree plate promptly; After catching shoe tree, longitudinal actuating cylinder 014 performs the lifting that vertical motion realizes shoe tree; After the action of lifting shoe tree completes, double stroke cylinder performs the reseting movement of the first trip segment, and move to the first travel point place and suspend, now longitudinal actuating cylinder performs down maneuver; And then perform second trip segment motion shoe tree is inserted in the shoe tree screens of footwear mould bases; It is equal that described shoe tree screens height and shoe tree prepare station height.Complete a slotting shoe last or hat block action in continuous flow procedure after, unclamp catching robot, and while the extension action of execution second trip segment, perform the enhancing action of longitudinal actuating cylinder, then continue execution first stroke continuously and extend action, arrival shoe tree preparation station place carries out shoe tree grasping movement next time.
Two-pass manner of execution of the present invention also can adopt other type of drive to realize, such as: the guide screw movement that described double stroke cylinder can be replaced Electric Machine Control is secondary, the leading screw distance that stroke is corresponding under control of the control system of described Electric Machine Control, performs two-pass action.Be compared to double stroke cylinder, adopt the mode cost of leading screw higher, and of long duration there will be error, Control System Design also relative complex once, so the present invention preferably adopts the mode of double stroke cylinder.Wherein, in order to the structure comparison being device is compact, coordinate the speed that whole equipment runs, the first stroke segment length of described double stroke cylinder is 400mm, and the second trip segment length is 50mm simultaneously, and described longitudinal actuating cylinder stroke is 50mm.This design parameter is a kind of mode of the embodiment of the present invention, is not unique mode.
Continue see Fig. 1, the present invention also comprises a detecting unit 017, the probe of described detecting unit 017 is extended on by bracing frame 0173 correspondence position that shoe tree inserts footwear mould bases, described detecting unit 017 is provided with two probes: the first probe 0171 and the second probe 0172, described first probe 0171 prepares station 00 side near shoe tree, second probe is 0172 near footwear mould bases 52 side, if the second probe 0172 has signal, the first probe 0171 do not have signal then to represent plug-in mounting completes; If the second probe 0172 has signal, the first probe 0171 also have signal then to represent plug-in mounting does not put in place, production line will shut down process; If the first probe 0171 and the second probe 0172 all do not have signal, device then works on according to setting program.
See Fig. 6 and 7, described shoe tree catching robot is clip type manipulator, clamps the shoe tree plate of shoe tree from both sides.Described shoe tree catching robot 018 is fixed on the actuating strut 015 of longitudinal actuating cylinder 014, it specifically comprises installation base plate 184 and is vertically arranged on the vertical fixed head 183 on installation base plate 184, described shoe tree captures cylinder 016 and is fixed on vertical fixed head 183 by screw 181, it is a parallel gripper cylinder that shoe tree captures cylinder 016, the gripping actuating strut of parallel gripper cylinder is provided with shoe tree and captures plate 182, capture on plate 182 at described shoe tree and be provided with multiple tack claw 185, there is a square groove described installation base plate 184 bottom surface, the shoe tree plate 21 of shoe tree is placed in described square groove when crawled, then described tack claw 185 inwardly clamps and is clamped by shoe tree.
Based on the above-mentioned a kind of shoe tree inserting apparatus provided, the present invention also provides a kind of and automatically unloads shoe last or hat block device for full-automatic shoe production line, and the structure of itself and slotting shoe last or hat block device is basically identical, and just action east misphase is anti-.Its action is: the shoe tree screens of shoe tree from footwear mould bases is taken out by the motion first first performing the second trip segment, and then performs the first stroke and sent on product shoes process station by the shoe tree with product shoes.
The present invention realizes the crawl of shoe tree, slotting shoe last or hat block by a kind of simple double stroke cylinder structure of design and control method and unloads the object of shoe last or hat block, solves the problem that manual operation labour intensity is large, and fast.Not only structure is simple, control method is also simple, and the stability of a system is good.
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (8)
1. the automatically slotting shoe last or hat block device for full-automatic shoe production line, it is characterized in that, comprise the gantry support be crossed on above flow production line, the entablature of described gantry support is provided with double stroke cylinder, the drive link of described double stroke cylinder connects the slide block be arranged on slide bar; Described slide block is vertically set up, and protrudes from the edge of crossbeam, and described slide block is provided with longitudinal actuating cylinder, and the shoe tree that the actuating strut of described longitudinal actuating cylinder arranges shoe tree catching robot and control manipulator behavior captures cylinder; Its control method of automatically inserting shoe last or hat block is: first double stroke cylinder is placed in original position, and after receiving shoe tree crawl instruction, double stroke cylinder extends to full stroke position; Control longitudinal actuating cylinder again and perform the preparation station of down maneuver to shoe tree; Then shoe tree is firmly grasped by the action of shoe tree crawl cylinder, after catching shoe tree, longitudinal actuating cylinder performs vertical motion, after the action of lifting shoe tree completes, double stroke cylinder performs the first trip segment motion, move to the first travel point place, longitudinal actuating cylinder performs down maneuver, and then performs the second trip segment motion and insert in the shoe tree screens of footwear mould bases by shoe tree, and it is equal that described shoe tree screens height and shoe tree prepare station height.
2. the automatically slotting shoe last or hat block device for full-automatic shoe production line according to claim 1, it is characterized in that, the guide screw movement that described double stroke cylinder replaces with Electric Machine Control is secondary, and the leading screw of described Electric Machine Control performs two-pass action.
3. the automatically slotting shoe last or hat block device for full-automatic shoe production line according to claim 1 and 2, it is characterized in that, complete a slotting shoe last or hat block action in continuous flow procedure after, unclamp catching robot, and while the extension action of execution second trip segment, perform the enhancing action of longitudinal actuating cylinder, then continue execution first stroke continuously and extend action, arrival shoe tree preparation station place carries out shoe tree grasping movement next time.
4. the automatically slotting shoe last or hat block device for full-automatic shoe production line according to claim 3, it is characterized in that, also comprise detecting unit, the probe of described detecting unit is extended on by bracing frame the correspondence position that shoe tree inserts footwear mould bases, and described probe is provided with two, comprises the first probe and the second probe, described first probe prepares station side near shoe tree, second probe is near footwear mould bases side, if the second probe has signal, the first probe do not have signal then to represent plug-in mounting completes; If second probe have signal, first probe also have signal then to represent plug-in mounting does not put in place, production line will shut down process; If the first probe and the second probe all do not have signal, device then works on according to setting program.
5. the automatically slotting shoe last or hat block device for full-automatic shoe production line according to claim 4, it is characterized in that, described shoe tree catching robot comprises installation base plate and is vertically arranged on the vertical fixed head on installation base plate, described shoe tree captures cylinder and is fixed on vertical fixed head, it is a parallel gripper cylinder that shoe tree captures cylinder, the gripping actuating strut of parallel gripper cylinder is provided with shoe tree and captures plate.
6. the automatically slotting shoe last or hat block device for full-automatic shoe production line according to claim 5, it is characterized in that, it is clip type manipulator that described shoe tree captures plate, the shoe tree plate of shoe tree is clamped from both sides, capture on plate at described shoe tree and be provided with multiple tack claw, there is a square groove described installation base plate bottom surface, and the shoe tree plate of shoe tree is placed in described square groove when crawled, and described tack claw inwardly clamps and clamped by shoe tree.
7. the automatically slotting shoe last or hat block device for full-automatic shoe production line according to claim 6, it is characterized in that, the first stroke segment length of described double stroke cylinder is 400mm, and the second trip segment length is 50mm, and described longitudinal actuating cylinder stroke is 50mm.
8. one kind is unloaded shoe last or hat block device automatically for full-automatic shoe production line, it is characterized in that, apparatus structure is identical with the automatically slotting shoe last or hat block apparatus structure described in claim 1-7 any one, motion flow is contrary with slotting shoe last or hat block mode, it unloads shoe last or hat block control method automatically: first perform the second trip segment motion and the shoe tree screens of shoe tree from footwear mould bases is taken out, and then performs the first stroke by with on the shoe tree feeding product shoes process station of product shoes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510102093.3A CN104720195B (en) | 2015-03-09 | 2015-03-09 | A kind of automatically slotting last carving for full-automatic shoe production line and unload last carving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510102093.3A CN104720195B (en) | 2015-03-09 | 2015-03-09 | A kind of automatically slotting last carving for full-automatic shoe production line and unload last carving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104720195A true CN104720195A (en) | 2015-06-24 |
| CN104720195B CN104720195B (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510102093.3A Active CN104720195B (en) | 2015-03-09 | 2015-03-09 | A kind of automatically slotting last carving for full-automatic shoe production line and unload last carving device |
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| CN (1) | CN104720195B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105901840A (en) * | 2016-06-17 | 2016-08-31 | 洛阳新思路电气股份有限公司 | Automatic shoe last loading and unloading device for automatic polyurethane shoe making production line |
| CN106273125A (en) * | 2016-10-19 | 2017-01-04 | 上海方格自动化系统有限公司 | A kind of EVA shoe machine sole automatic blanking frock and baiting method thereof |
| CN107048605A (en) * | 2017-06-19 | 2017-08-18 | 温州华建光电设备有限公司 | A kind of upper of a shoe laser roughening machine |
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| US20050091765A1 (en) * | 2001-12-03 | 2005-05-05 | Roger Blanc | Last with grip device for shoemaking |
| CN101313789A (en) * | 2008-07-02 | 2008-12-03 | 文芳 | Automatic shoes product line and technique thereof |
| CN202716419U (en) * | 2012-07-19 | 2013-02-06 | 洛阳新思路电气股份有限公司 | Die closing device for feeding shoe tree and filler |
| CN202714294U (en) * | 2012-07-19 | 2013-02-06 | 洛阳新思路电气股份有限公司 | Manipulator for taking shoe tree |
| CN203492906U (en) * | 2013-10-11 | 2014-03-26 | 叶克光 | Shoe tree positioning clamping device |
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2015
- 2015-03-09 CN CN201510102093.3A patent/CN104720195B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050091765A1 (en) * | 2001-12-03 | 2005-05-05 | Roger Blanc | Last with grip device for shoemaking |
| CN101313789A (en) * | 2008-07-02 | 2008-12-03 | 文芳 | Automatic shoes product line and technique thereof |
| CN202716419U (en) * | 2012-07-19 | 2013-02-06 | 洛阳新思路电气股份有限公司 | Die closing device for feeding shoe tree and filler |
| CN202714294U (en) * | 2012-07-19 | 2013-02-06 | 洛阳新思路电气股份有限公司 | Manipulator for taking shoe tree |
| CN203492906U (en) * | 2013-10-11 | 2014-03-26 | 叶克光 | Shoe tree positioning clamping device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105901840A (en) * | 2016-06-17 | 2016-08-31 | 洛阳新思路电气股份有限公司 | Automatic shoe last loading and unloading device for automatic polyurethane shoe making production line |
| CN106273125A (en) * | 2016-10-19 | 2017-01-04 | 上海方格自动化系统有限公司 | A kind of EVA shoe machine sole automatic blanking frock and baiting method thereof |
| CN107048605A (en) * | 2017-06-19 | 2017-08-18 | 温州华建光电设备有限公司 | A kind of upper of a shoe laser roughening machine |
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| Publication number | Publication date |
|---|---|
| CN104720195B (en) | 2017-05-31 |
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